conversions (aron)

source/RobotAPI/libraries/armem_objects/aron_conversions.cpp

@@ -2,9 +2,8 @@
 
 #include <RobotAPI/libraries/ArmarXObjects/aron_conversions.h>
 
-#include <RobotAPI/libraries/aron/common/aron_conversions/core.h>
-#include <RobotAPI/libraries/aron/common/aron_conversions/stl.h>
-#include <RobotAPI/libraries/aron/common/aron_conversions/armarx.h>
+#include <RobotAPI/libraries/aron/common/aron_conversions.h>
+#include <RobotAPI/libraries/armem/core/aron_conversions.h>
 
 namespace armarx::armem
 {
@@ -30,6 +29,54 @@ namespace armarx::armem
         objpose::toAron(dto.pose, bo);
     }
 
+
+    /* Attachments */
+    void fromAron(const arondto::attachment::AgentDescription& dto, attachment::AgentDescription& bo)
+    {
+        fromAron(dto.id, bo.id);
+        aron::fromAron(dto.frame, bo.frame);
+    }
+
+    void toAron(arondto::attachment::AgentDescription& dto, const attachment::AgentDescription& bo)
+    {
+        toAron(dto.id, bo.id);
+        aron::toAron(dto.frame, bo.frame);
+    }
+
+
+    void fromAron(const arondto::attachment::ObjectAttachment& dto, attachment::ObjectAttachment& bo)
+    {
+        fromAron(dto.agent, bo.agent);
+        aron::fromAron(dto.transformation, bo.transformation);
+        fromAron(dto.object, bo.object);
+
+    }
+
+    void toAron(arondto::attachment::ObjectAttachment& dto, const attachment::ObjectAttachment& bo)
+    {
+        toAron(dto.agent, bo.agent);
+        aron::toAron(dto.transformation, bo.transformation);
+        toAron(dto.object, bo.object);
+    }
+
+
+    void fromAron(const arondto::attachment::ArticulatedObjectAttachment& dto, attachment::ArticulatedObjectAttachment& bo)
+    {
+        fromAron(dto.agent, bo.agent);
+        aron::fromAron(dto.transformation, bo.transformation);
+        fromAron(dto.object, bo.object);
+    }
+
+    void toAron(arondto::attachment::ArticulatedObjectAttachment& dto, const attachment::ArticulatedObjectAttachment& bo)
+    {
+        toAron(dto.agent, bo.agent);
+        aron::toAron(dto.transformation, bo.transformation);
+        toAron(dto.object, bo.object);
+    }
+
+
+
+
 }  // namespace armarx::armem
 
 armarx::armem::MemoryID

source/RobotAPI/libraries/armem_objects/aron_conversions.h

@@ -3,6 +3,8 @@
 #include <RobotAPI/libraries/ArmarXObjects/ObjectPose.h>
 
 #include <RobotAPI/libraries/armem_objects/aron/ObjectInstance.aron.generated.h>
+#include <RobotAPI/libraries/armem_objects/aron/Attachment.aron.generated.h>
+
 #include <RobotAPI/libraries/armem_objects/types.h>
 
 namespace armarx::armem
@@ -13,6 +15,17 @@ namespace armarx::armem
     void fromAron(const arondto::ObjectInstance& dto, objpose::ObjectPose& bo);
     void toAron(arondto::ObjectInstance& dto, const objpose::ObjectPose& bo);
 
+
+    /* Attachments */
+    void fromAron(const arondto::attachment::AgentDescription& dto, attachment::AgentDescription& bo);
+    void toAron(arondto::attachment::AgentDescription& dto, const attachment::AgentDescription& bo);
+
+    void fromAron(const arondto::attachment::ObjectAttachment& dto, attachment::ObjectAttachment& bo);
+    void toAron(arondto::attachment::ObjectAttachment& dto, const attachment::ObjectAttachment& bo);
+
+    void fromAron(const arondto::attachment::ArticulatedObjectAttachment& dto, attachment::ArticulatedObjectAttachment& bo);
+    void toAron(arondto::attachment::ArticulatedObjectAttachment& dto, const attachment::ArticulatedObjectAttachment& bo);
+
 }  // namespace armarx::armem